/* Form on line of calibration data that represents one calibration point in the format
* expected by Tsai3D calibration program */
private string GetCalibrationPointString(Camera cam, CalibrationModel model, int pointIndex)
{
string res =
model.GetPoint(pointIndex).X + " " + model.GetPoint(pointIndex).Y + " " + model.GetPoint(pointIndex).Z + " " + cam.points[pointIndex].X + " " + cam.points[pointIndex].Y;
return(res);
}
/* Assumes square model with 4 points */
void Calibrate(int numAcquisitionsPerView, int numViews, double maxDisplacementX, double maxDisplacementY, double maxDisplacementZ)
{
CalibrationModel model = new CalibrationModel(17.5);
double stepX = (maxDisplacementX / numAcquisitionsPerView);
double stepY = (maxDisplacementY / numAcquisitionsPerView);
double stepZ = (maxDisplacementZ / numViews);
CalibrationView[] views = new CalibrationView[numViews];
int viewIdx = 0;
for (double z = 0; z < maxDisplacementZ; z += stepZ, viewIdx++)
{
for (double y = 0; y < maxDisplacementY; y += stepY)
{
for (double x = 0; x < maxDisplacementX; x += stepX)
{
modelControlX.Move(x);
modelControlY.Move(y);
modelControlZ.Move(z);
model.Move(x, y, z);
for (int i = 0; i < 4; i++)
{
views[viewIdx].AddPoint(camera[0].points[i], camera[1].points[i], model.GetPoint(i));
}
}
}
}
Stereo.CalibrateMultipleViews(views);
}
public CalibrationForm(Camera left, Camera right, CalibrationModel model)
{
InitializeComponent();
this.left = left;
this.right = right;
this.model = model;
model.Moved += model_Moved;
}
private void MainForm_Load(object sender, EventArgs e)
{
/*double[] arr = new double[2000];
* var Watch = Stopwatch.StartNew();
* for (int j = 0; j < 1000000; j++ )
* for (int i = 0; i < 2000; i++)
* {
* arr[i] = i + 5;
*
* }
* Watch.Stop();
* var elapsed = Watch.ElapsedMilliseconds;*/
thr = new Thread(new ThreadStart(DaqInit));
//timerPhase.Start();
thr.Start();
left = new Camera();
right = new Camera();
stageInitialized = false;
isTracking = false;
UpdateButtonStates();
CameraForm cfrm = new CameraForm(left, right);
cfrm.MdiParent = this;
cfrm.Show();
model = new CalibrationModel(17.5);
calibForm = new CalibrationForm(left, right, model);
calibForm.MdiParent = this;
calibForm.Show();
//file = new System.IO.StreamWriter(string.Format("data{0:yyyyMMddHHmm}.txt",DateTime.Now));
origin = new Vector3(-66.5681286245652, 93.959147563999, 220.553692515875);
trackForm = new TrackingForm();
trackForm.MdiParent = this;
instrumentTip = new Vector3();
prevInstrumentTip = new Vector3();
}
